Systems and Methods Implementing Devices Adapted to Controllably Propel Themselves Through a Medium

ABSTRACT

Systems and methods in accordance with embodiments of the invention implement devices adapted to propel themselves through a medium, where the path that they traverse can be advantageously controlled. In one embodiment, a device adapted to propel itself through a medium includes: a body; a drive mechanism coupled to the body; a propeller rotatably coupled to the drive mechanism; a first wing coupled to the body, the first wing being configured to generate a first lift; and a second wing coupled to the body, the second wing being configured to generate a second lift that is different than the first lift.

CROSS-REFERENCE TO RELATED APPLICATIONS

The current application claims priority to U.S. Provisional ApplicationNo. 61/980,473, filed Apr. 16, 2014, the disclosure of which is hereinincorporated by reference.

FIELD OF THE INVENTION

The present invention generally relates to devices that are adapted topropel themselves through a medium.

BACKGROUND

Toys are designed to provide entertainment, and sometimes an educationalexperience, and are undoubtedly enjoyed by many. One class of toys ofparticular interest encompasses aquatic toys configured to propelthemselves through water (e.g. in a bath tub or a pool). For example,many young adults enjoy miniaturized, to-scale, radio-controlled boattoys that generally emulate the operation of actual boats. Notably,these aquatic toys can be particularly useful in that they can allowtheir users to develop a more intimate understanding of water and itsunique properties. For instance, aquatic toys that propel themselvesthrough water allow their users to develop a greater intuition forhydrodynamics. Indeed, as can be appreciated, toys that propelthemselves through any fluid (e.g. air) allow their users to develop agreater intuition about the respective fluid, and at the same time allowtheir users to enjoy the inherent entertainment value that the toys canprovide. Accordingly, the current state of the art can benefit from suchdevices that can more affordably and/or more advantageously propelthemselves through a medium.

SUMMARY OF THE INVENTION

Systems and methods in accordance with embodiments of the inventionimplement devices adapted to propel themselves through a medium, wherethe path that they traverse can be advantageously controlled. In oneembodiment, a device adapted to propel itself through a medium includes:a body; a drive mechanism coupled to the body; a propeller rotatablycoupled to the drive mechanism; a first wing coupled to the body, thefirst wing being configured to generate a first lift; and a second wingcoupled to the body, the second wing being configured to generate asecond lift that is different than the first lift.

In another embodiment, the device further includes a vertical membercoupled to the body.

In yet another embodiment, the body is an elongated body having aforward end, an aft end, and a characteristic width; and the diameter ofthe propeller is larger than the characteristic width of the elongatedbody.

In still another embodiment, the propeller is disposed proximate the aftend of the elongated body; and the vertical member is disposed proximatethe aft end of the elongated body.

In still yet another embodiment, the elongated body defines a firstside, and a second, opposing, side; and the first wing is coupled to thefirst side of the elongated body, and the second wing is coupled to thesecond side of the elongated body.

In a further embodiment, the first wing defines a positive angle ofattack with respect to the forward end of the elongated body; and thesecond wing does not define a positive angle of attack with respect tothe forward end of the elongated body.

In a still further embodiment, the second wing defines a negative angleof attack with respect to the forward end of the elongated body.

In a yet further embodiment, the elongated body includes a cavityportion.

In a still yet further embodiment, the cavity portion is cylindrical andhas a diameter sized to accommodate a coin.

In another embodiment, the cavity has a diameter sized to accommodate aUnited States penny.

In still another embodiment, the drive mechanism includes an elasticmember.

In yet another embodiment, the elastic member is elastic in torsion.

In still yet another embodiment, the drive mechanism is removablycoupled to the elongated body.

In a further embodiment, the elongated body includes a plurality ofcoupling mechanisms, each of which allows the drive mechanism toremovably couple with the elongated body.

In a still further embodiment, a method of assembling a device adaptedto propel itself through a medium includes: inserting a first wing intoa slot defined by a first body structure; inserting a second wing into aslot defined by a second body structure; where each of the first wingand second wing includes a wide portion; where the wide portion of thefirst wing is wider than the slot defined by the first body structure;where the wide portion of the second wing is wider than the slot definedby the second body structure; where at least one of the first wing andsecond wing includes an inset portion; arranging the first bodystructure and the second body structure such that at least some portionof the slots overlap and such that the wide portion of the first wingabuts the second body structure and the wide portion of the second wingabuts the first body structure; and affixing the arrangement whereby atleast some portion of the slots overlap and the wide portion of thefirst wing abuts the second body structure and the wide portion of thesecond wing abuts the first body structure.

In a yet further embodiment, arranging the first body structure and thesecond body structure further includes arranging a third body structurebetween the first body structure and the second body structure, thethird body structure defining a slot configured to house the wideportion of the first wing and the wide portion of the second wing.

In a still yet further embodiment, affixing the arrangement includesusing at least one ratcheting action rivet to affix the arrangement.

In another embodiment, each of the first body structure, the second bodystructure, the third body structure, the first wing, and the second wingis planar.

In still another embodiment, the slot defined by the first bodystructure defines a positive angle of attack in the assembled device,and the slot defined by the second body structure defines a negativeangle of attack in the assembled device.

In yet another embodiment, each of the first body structure, the secondbody structure, and the third body structure defines at least one cavityportion.

In still yet another embodiment, a kit for a device adapted to propelitself through a medium includes: a first body structure, defining atleast one cavity portion and at least one slot; a second body structure,defining at least one cavity portion and at least one slot; a third bodystructure defining at least one cavity portion and at least one slot; afirst wing defining a wide portion and an inset portion; a second wingdefining a wide portion; a first panel for accessing the cavity portion;a second panel for accessing the cavity portion; a horizontalstabilizer; an elastic member; and a propeller.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1B illustrate a device adapted to propel itself through amedium in accordance with certain embodiments of the invention.

FIGS. 2A-2B illustrate the operation of a device adapted to propelitself through a medium in accordance with certain embodiments of theinvention.

FIG. 3 illustrates a device that that is adapted to propel itselfthrough a medium including a cavity portion for the insertion of penniesin accordance with certain embodiments of the invention.

FIGS. 4A-4C illustrate a device that can have its drive mechanismcoupled to its body in any of a variety of configurations in accordancewith certain embodiments of the invention.

FIGS. 5A-5B illustrate the operation of a device having two wings, eachof which being configured to generate a different lift, where the deviceis configured to turn as it propels itself through a medium inaccordance with certain embodiments of the invention.

FIG. 6 illustrates a device adapted to propel itself through a mediumthat includes aspects that reposition its wings during operation inaccordance with certain embodiments of the invention.

FIGS. 7A-7L illustrate the assembly of a device adapted toadvantageously propel itself through a medium in accordance with certainembodiments of the invention.

DETAILED DESCRIPTION

Turning now to the drawings, systems and methods for implementingdevices adapted to advantageously propel themselves through a medium areillustrated. In one embodiment, a device adapted to propel itselfthrough a medium includes a body, a propeller, and two wings, the twowings being configured to counteract rotational forces that may beimparted on the body by the propeller. In many embodiments, each of thetwo wings is configured to generate a different lift, and the two wingsare thereby configured to counteract rotational forces that may beimparted on the body by the propeller. In numerous embodiments, a firstwing defines a positive angle of attack, and a second wing defines anegative angle of attack, and the two wings are thereby configured tocounteract rotational forces that may be imparted on the body by thepropeller. In a number of embodiments, the body is elongated. In aplurality of embodiments, the propeller is driven by an elastic memberthat is elastic in torsion. In several embodiments, the body includes anaccessible cavity portion that can accommodate the removable attachmentof weights.

While a number of aquatic toys designed to propel themselves throughwater exist, many of them are burdened with any of a variety ofshortcomings. For example, one type of aquatic toy is based on theemulation of a miniaturized—generally to-scale —submarine structure. Inmany instances, such miniaturized submarine structures are designed topropel themselves through water using a propeller, and frequently, thepropellers are powered by the winding of the propeller—e.g. thepropeller may be coupled to an elastic member that is elastic intorsion, such as a rubber band, such that the winding of the propellerstores energy in the band that is used to actuate the propeller.However, because these submarine toys endeavor to embody a generallyto-scale submarine structure, the propellers are proportionallyminiaturized in relation to the body of the submarine structure to anextent that they are difficult to handle and otherwise manipulate bytheir users (e.g. they may be difficult to wind); as a result, playingwith such toys can be a frustrating experience, especially for impatientyouths. Moreover, because of their relatively small surface area, thesmaller propellers do not experience much water-resistance as they arepropelling the toy through water—consequently, where the propellers aredriven by stored elastic energy, the stored elastic energy may releaserelatively quickly as it drives the propeller, which in turn can resultin a relatively high-speed propulsion, but for only a relatively shortamount of time.

Another class of aquatic toys implements fish-like structures that aredesigned to propel themselves through water with the ‘wagging’ of a tailstructure. However, such propulsion mechanisms are generally inefficientand may not be as versatile as a propeller.

The devices disclosed in the instant application overcome theseshortcomings by implementing structures that incorporate propellerslarge enough to easily handle and manipulate, even for a child.Importantly, the rotation of such propellers can impart rotationalforces on the propelled body that may result in its undesired rotationas it is being propelled. Thus, the propelled body can incorporatestructures configured to counteract rotational forces that may beapplied onto the propelled body by the propeller. In this way, devicesthat propel themselves through a medium using a propeller that isgenerally easy to handle and manipulate can be implemented, where theundesired rotation of the propelled body due to forces exerted by thepropeller can be avoided. Additionally, the device can be configuredsuch that the propeller can be easily reoriented relative to the bodysuch that the trajectory of the device as it propels itself through amedium can be controlled. The structure of these devices, and theiroperation is now discussed in greater detail below.

Devices Adapted to Advantageously Propel through a Medium

In many embodiments of the invention, devices that are adapted toadvantageously propel themselves through a medium are implemented. Innumerous embodiments, the device include a body, a drive mechanismcoupled to the body, a propeller rotatably coupled to the drivemechanism, and at least one structure configured to counteractrotational forces imparted on the body by the propeller. In numerousembodiments, the propelled body includes a pair of wings, each of whichbeing configured to generate a different lift so as to counteractrotational forces that may be imparted on the propelled body by thepropeller.

FIGS. 1A and 1B illustrate a device adapted to propel itself through amedium that includes a pair of wings, each of which being adapted togenerate a different lift so as to counteract rotational forces that maybe imparted on the propelled body by the propeller in accordance with anembodiment of the invention. In particular, FIGS. 1A-1B depict that thedevice 100 includes a body 102, a drive mechanism 104 coupled to thebody, a propeller 106 coupled to the drive mechanism, a first wing 108configured to generate a first lift, and a second wing 110 configured togenerate a second lift. The device further includes a vertical member112 that can stabilize the body as it propels itself through a medium.

A discussion of one of the principle modes of operation of the devicefacilitates an understanding of the utility of its configuration—FIGS.2A-2B depict one way that the device depicted in FIGS. 1A-1B canoperate. In particular, it is illustrated that the drive mechanism 104actuates the rotation 202 of the propeller 106, which in turn causes thepropulsion of the body 102 in a forward direction 204. For simplicity,assume that the device is operating in water. Although it should beclear that devices in accordance with embodiments of the invention mayoperate in any suitable medium. For example, in many embodiments, thedevice is adapted to propel itself through air. Importantly, Newton'sthird law of motion dictates that the force imparted by the drivemechanism on the propeller to cause its rotation results in an equal andopposite rotatable force on the drive mechanism 104 by the propeller106. As the drive mechanism 104 is coupled to the body, the rotatingforce 206 can be transmitted to the body. In effect, the rotation of thepropeller 202 is associated with a rotating force applied to the body206 as it is propelled through a medium, which unless addressed, cancause an undesired rotation of the body in a direction opposing therotation 202 of the propeller 106. Thus, the first wing 108 and thesecond wing 110 are configured to each generate a different lift 208,210 such that the combination of their lifts results in forces thatcounteract the rotating force 206 on the body caused by the propeller106. In particular, the first wing 108 has a positive angle of attack(i.e. with respect to the direction of motion) such that as it ispropelled through a medium, the medium applies an upward force on thewing 108. Conversely, the second wing 110 has a negative angle of attacksuch that as it is propelled through a medium, the medium applies adownward force on the wing 110. Note that in the illustration, the firstwing 108 is disposed on the left side of the body (relative to theforward direction), while the second wing 110 is disposed on the rightside of the body. Accordingly, the combination of the upward force 208and downward force 210 constitute a counter-rotational force thatcounteracts the rotating force 206. In this way, undesired rotation ofthe body can be hindered.

While FIGS. 1A-1B and 2A-2B illustrate a particular structure inaccordance with certain embodiments of the invention, it should be clearthat any of a variety of modifications and adjustments can beimplemented within the scope of the invention. For instance, in manyembodiments, the propeller has a length that is much longer than thewidth of the body. For example, in some embodiments, the length of thepropeller is on the order of 5.5 inches, whereas the width of the bodyis on the order of 0.5 inches. As alluded to above, longer propellersare advantageous insofar as they may be more accessible and more easilymaneuverable, especially by children. However, it should be noted thatthe length of the propeller is correlated with the rotating force thatit can indirectly impart on the body—i.e. the longer the propeller, themore rotating force that it imparts on the body. Thus, where longerpropellers are implemented, the structures that provide acounter-rotational force must be configured to provide a correspondinglylarger counteracting rotating force. In a number of embodiments, thedevice includes a pair of wings that have a relatively short length—e.g.a first wing can have a positive angle of attack while a second wing canhave a negative angle of attack. As the pair of wings can beparticularly configured to provide a counteracting rotational force,they do not have to be relatively lengthy to achieve a stabilizingeffect. In some embodiments, each of the pair of wings has a length ofapproximately 2.75 inches. While certain dimensions for the length ofthe propeller, the length of each of a pair of wings, and the width ofthe body are referenced, propellers of any suitable length, wings of anysuitable length, and bodies of any suitable width can be incorporated inaccordance with embodiments of the invention.

While FIGS. 1A-1B and 2A-2B depict a body having a cylindrical shape,the body that is configured to be propelled can be of any suitableshape. In many embodiments, the body is planar, for example having awidth of 0.5 inches, a height of 3.25 inches, and a length of 12 inches.In many embodiments, the body is elongated having a forward end (thebody being configured to propel in the direction of the forward end) andan aft end, where the propeller is disposed proximate the aft end. Insome embodiments, the propeller is disposed proximate the forward end.In many embodiments, the shape of the body in conjunction with the shapeof any structures that are configured to apply a counter-rotationalforce to counteract rotational forces applied to the body by thepropeller, emulate the shape of one of: a marine animal, a boat, aplane, a car, a land animal, and a spacecraft. Thus, toy animals andvehicles may be implemented. For example, in many embodiments, the shapeof the body in conjunction with structures that are configured to applya counter-rotational force emulates the shape of one of: a killer whale,a clown fish, a penguin, an alligator, a turtle, a submarine, a cruiseship, a ghost ship, a battleship, a sports car, a biplane, a fighterplane, and a spacecraft. In a number of embodiments, the shape of thebody in conjunction with any structures that are configured to apply acounter-rotational force is relatively planar; thus, for example, adevice in the shape of a manta ray can be implemented. Where the shapeof a taller structure, e.g. a cruise ship structure, is implemented, thecounter-rotational structures can work particularly well to inhibitundesired rotation of the body and thereby maintain the uprightorientation of the ship as it propels itself through water. Of course,although certain shapes have been referenced, it should be clear thatany suitable shape may be implemented in accordance with embodiments ofthe invention.

The body can be made of any suitable material in accordance withembodiments of the invention. For example, in many embodiments, the bodyis made from water-resistant Italian Poplar—its water-resistance andoverall buoyancy can make it an effective material from which to formthe body of a device that is adapted to operate in water. In a number ofembodiments, the body is made from Baltic Birch plywood. Where plywoodis used, it is preferable that any constituent glue that is incorporatedin the plywood is water-resistant if the device is intended to operatein water. Where the device is intended to operate in water, it may bepreferable that a buoyant material is used. Although, it should be clearthat any suitable material may be used. In some embodiments, where thedevice is intended to operate in water, the body is made from anon-buoyant material but the body includes cavities that reduce itsoverall mass. In this way, the body can be configured such that it isbuoyant in spite of the fact that it includes non-buoyant materials. Ina number of embodiments, aspects of the device that are intended to beentirely submerged in, e.g. water, are made from non buoyant materials.For example, the propeller fins and/or wings of the device can be madefrom non-buoyant materials (e.g. clear plastic material). Althoughaspects of the device are made from non-buoyant materials, the deviceoverall may nonetheless be buoyant—e.g. the remainder of the device maybe constructed from buoyant materials, or alternatively, cavities may beincorporated into the device to provide buoyancy. In some embodiments, amore dense material is used where it is desired that the device operateat a specified lower depth under water. Indeed, the material can bechosen based on the desired operation depth in accordance withembodiments of the invention.

In a number of embodiments, the body includes at least one cavityportion, sized for the insertion of weights. Accordingly, weights may beinserted into the device to thereby control the depth at which thedevice propels itself through a medium (e.g. the depth at which thedevice propels through water). For example, more weight may be added tocause the device to operate at a lower depth, while fewer weights (or noweights) can be added to cause the device to operate at a relativelyhigher depth. Moreover, weights that are added can serve as ballast thatstabilizes the orientation of the device. Notably, cavity portions maybe disposed proximate the center of mass of the device such that weightsthat are inserted into the cavity portion do not act to apply a downwardforce that disorients the device. In some embodiments, cavity portionsare included forward and/or aft of the center of gravity—in this way,weights may be added to the respective forward or aft cavities tocontrol the orientation (e.g. angled downward or upward) of the deviceas it propels itself through a medium. In numerous embodiments, thecavity within the body is sized for the insertion of a common trinket.For example, in many embodiments, the body includes a cavity portionsized for the insertion of U.S. pennies, which are commonly available;in this way, users can more readily configure the operation depth of thedevice. In a number of embodiments, the cavities are accessible by themedium when the device is exposed to the medium. Thus, for example,where a device is adapted to propel itself through water, the includedcavities are accessible by the water when the device is placed in waterso that the cavities do not undesirably trap air, which may have theeffect of altering the buoyancy properties of the device and therebyundesirably disorienting it.

FIG. 3 illustrates a body including several cavity portions. Inparticular, it is illustrated that the body 302 includes a portion thatincludes five cylindrical cavities 314, each sized to accommodate theinsertion of pennies 316. The cylindrical cavities can be of any depthso that they can each accommodate a plurality of pennies (therebyallowing relatively more weight to be added). Additionally, pennies canbe selectively disposed in the aft or forward cavities to control theangle of the device as it propels through a medium. As alluded topreviously, the pennies may also serve as ballast for the device. Ofcourse, as can be appreciated, the cavities can be sized for theinsertion of any suitable coin, not just pennies. Indeed, the cavityportion can be sized to accommodate any common trinket. More generally,the cavity portion can be sized to accommodate the insertion of anyweight. In this way, the operation depth of the device can becontrolled, the device can be stabilized, and its orientation as it ispropelled through a medium can be controlled.

In many embodiments, the devices are adapted to propel themselvesthrough water, and include ballast chambers that are configured to fillwith water when the device is immersed in water. Thewater-filled-ballast chambers thereby reduce the buoyancy of the devicewhile it is being operated. The reduction in buoyance can, for example,prevent the device from undesirably entirely emerging from the water andfloating on the surface. Of course, it should be clear that in manyinstances, when in proper operation, part of the device will besubmerged in water, and part of the device will be above the waterlevel. In many instances, the ballast chambers are strategically locatedso as to control the orientation of the device as it is submerged inwater. It should also be understood that in many instances, the devicesinclude both cavities sized for the insertion of weights and ballastchambers—these aspects can allow the operating depth and the overallbuoyancy of the device to be determined.

As referenced previously, structures can be incorporated onto the bodythat provide a counter-rotating force in accordance with embodiments ofthe invention. For example, as can be appreciated from the abovediscussion, a pair of wing structures, each providing a different liftcan be incorporated. For example, in some embodiments, a first wing hasa positive angle of attack (e.g. relative to a forward direction) so asto generate an upward lift, while a second wing is configured to have anegative angle of attack to generate a downward lift to therebycounteract any undesired rotation of the body. The wings can be disposedon opposing sides of the body so that they can provide acounter-rotational force in accordance with embodiments of theinvention. As alluded to previously, they do not have to be lengthy toachieve the stabilizing effect; that they are each configured to providea different lift may be suitable in and of itself to achieve the desiredeffect. In some embodiments, the length of each wing is less thanapproximately one-third of the length of the body. In numerousembodiments, the length of each wing is less than one-fourth of thelength of the body. Of course, the wings can be configured in anysuitable way to provide a counter-rotational force in accordance withembodiments of the invention. For example, in some embodiments, a firstwing and a second wing have the same polarity in terms of angle ofattack, but are configured to generate different magnitudes of lift.Accordingly, the first wing and second wing can thereby counteract arotational force imposed by the propeller on the body. In someembodiments, one wing has a neutral angle of attack, while another winghas either a positive or negative angle of attack. The wing having thepositive or negative angle of attack can thereby generate a lift thatopposes the rotational force on the body caused by the propeller. In afew embodiments only a single wing is used to generate a single liftthat counteracts rotational forces on the body that may be caused by thepropeller. In some embodiments, a pair of wings is disposed on a singleside of the body, and is used to generate the lift that counteractsrotational forces on the body that may be caused by the propeller. In anumber of embodiments, an asymmetric distribution of wings is adjoinedto the body to generate the counteracting rotational forces. In manyembodiments, the device includes four wings to generate counteractingrotational forces —two of which disposed at the forward end of thedevice and two of which disposed at the aft end of the device. In thisarrangement, the two pairs of wings can balance the device. In a numberof embodiments, the wings are in a biplane arrangement. While severalwing arrangements are discussed that may be implemented to counteractrotational forces that may be imparted by the propeller on the body, anysuitable structure that is configured to counteract those rotationalforces may be implemented in accordance with embodiments of theinvention, and they may be implemented in any suitable configuration.

Additionally, it should be noted that, where wings are incorporated, thewings can adopt any suitable configuration. For example, incorporatedwings can be swept, forward swept, or straight. Additionally, the wingscan be delta wings. Generally, any suitable wing configuration can beimplemented in accordance with embodiments of the invention.

The propeller can be driven by any suitable drive mechanism inaccordance with embodiments of the invention. For example, in manyembodiments, the drive mechanism includes an elastic member that iselastic in torsion. Thus, the elastic member can be ‘wound up’ to storeenergy in its elasticity; the stored elastic energy can then be releasedto cause the rotation of the propeller. For example, where the device isconfigured to propel itself through water, the elastic member can berotated in torsion so as to ‘wind it up’, the device can then besubmerged in water, and the tension in the elastic member can then bereleased so as to apply a rotational force to the coupled propeller.Notably, when such devices include longer propellers, the length of thepropeller can experience sufficient resistance from the water that slowsthe rotation of the propeller. In essence, the water can inhibit theimmediate release of the elastic energy in the elastic member, and caninstead cause the gradual sustained rotation of the propeller therebyenabling the device to be gracefully propelled through the water for amore extended period of time. In some embodiments, the elastic membercan cause the gradual sustained propulsion of the device for longer than10 minutes. Further, drive mechanisms based on elastic members may befurther advantageous insofar as they may be waterproof, and therebyparticularly suitable for devices configured to operate in water. As canbe appreciated, where the drive mechanism couples to the body, it ispreferable that the body be sufficiently rigid to be able to accommodatethe drive mechanism without failing (e.g. without cracking). Forexample, where an elastic member defines the drive mechanism, and theelastic member couples to the body, the tension in the elastic membershould not contort the body to an extent that the body cracks—at leastwhen the propeller is not wound. As can be appreciated, the body shouldbe sufficiently rigid to withstand the tension in the elastic membercaused by the winding of the propeller to some reasonable extent suchthat the device can operate as desired. While a drive mechanism based onan elastic member has been discussed and illustrated, any suitable drivemechanism can be implemented. For example, drive mechanisms based onpneumatic devices may be implemented. In general, any drive mechanismthat that can activate the rotation of a propeller can be implemented inaccordance with embodiments of the invention.

In many embodiments, the body is configured such that the drivemechanism is removably coupled to it in any of a plurality ofconfigurations, such that the location of the propeller that is coupledto the drive mechanism with respect to the body is controlled. In thisway, the path that the device traverses as it propels itself through amedium can be controlled. For instance, in some embodiments, the bodyincludes a plurality of attachment points such that the propeller can belocated either centrally, towards the left side of the body, or towardsthe right side of the body. Thus, for example, the device will traversea different path when the propeller is disposed towards the left side ofthe body than it would if the propeller was disposed centrally.

FIGS. 4A-4C illustrate a device where the drive mechanism can beremovably attached to the body in any of a variety of configurations. Inparticular, FIG. 4A depicts that the device 400 includes a body 402 witha drive mechanism 404 that is configured to removably couple with thebody at each of two attachment points 420, 422. In FIG. 4A, theattachment points 420, 422 are parallel to the length of the body; as aresult the propeller 406 is disposed perpendicularly to the length ofthe body. Thus, the propeller 406 causes the body to propel generallystraight in a forward direction. FIG. 4B depicts that the drivemechanism is coupled to the body at different attachment points 420 and424. In this configuration, the drive mechanism 404 and central axis ofthe propeller 406 are angled with respect to the length of the body 402such that the propeller 406 is towards the left side of the body 402 andis angled so that its diameter faces the body 402. This configurationcauses the device 400 to turn left as it propels itself through a mediumso as to traverse a circular path. Similarly, FIG. 4C depicts that thedrive mechanism is coupled to the body at different attachment points420, 426. In this configuration, the drive mechanism and central axis ofthe propeller 406 are angled with respect to the length of the body suchthat the propeller is towards the right side of the body 402 and isangled so that its diameter faces the body 402. This configurationcauses the device to turn right as it propels itself through a medium soas to traverse a circular path.

Notably, where the device includes a first wing and a second wing, eachof which is configured to generate a different lift, the turning of thedevice as it propels itself through a medium can cause the device tochange its depth. For example, when the device is turning, one of thewings will be moving at a faster speed than the other (e.g. when thedevice is turning left—the right wing will be moving at a faster speed),and the lift that the faster moving speed generates will becorrespondingly higher

FIGS. 5A-5B depict the operation of a device that includes two wings,one of which configured to generate an upward lift, and the other ofwhich configured to generate a downward lift. In particular, FIG. 5Adepicts that the device 500 has a propeller 506 that is disposed towardthe left side of the body 502 such that it causes the device 500 to turnleft as it propels itself through a medium. Notably, as the device 500is turning left, its second wing 510 is moving faster than its firstwing 508; consequently the second wing 510, having a negative angle ofattack, generates a higher magnitude of lift, albeit in a downwarddirection, than that of the first wing 508, which has a positive angleof attack. As a result, the device tends downwards as it turns left suchthat the device essentially traverses a downward spiraling path.

By contrast, when the same device 500 is configured to turn right, theupward lift generated by the first wing 508 is greater in magnitude thanthe downward lift generated by the second wing 510. Thus, the devicetends upwards as it turns right such that the device essentiallytraverses an upward spiraling path.

In a number of embodiments, the body is flexible such that the drivemechanism can flex the body. For example, referring back to FIG. 4B, thedrive mechanism 404 may constitute an elastic member that attaches atattachment points 402 and 424, such that tension of the elastic membercauses the forward end of the body to bend left. When the device bendsto the left while being propelled, the trajectory illustrated anddescribed with respect to FIG. 5A can be exaggerated—e.g. the device canhave a smaller turning radius and can dive at a steeper angle.Similarly, the drive mechanism may bend the body to the right, such thatthe trajectory illustrated and described with respect to FIG. 5B can beexaggerated. In a number of embodiments, the body of the device is madeof a material that becomes flexible to an extent that theabove-described effect is manifested when the body is saturated withwater beyond some threshold extent.

In several embodiments, where the drive mechanism is centrally disposed,e.g. as seen in FIG. 4A, the orientation of the propeller (the propellerbeing disposed at the aft end) is such that its lower portion isslightly more forward and its upper portion is slightly more aft; as aresult, the propeller can inspire a downward trajectory for the deviceas it propels through water. In other words, the face of the propelleris angled upwards with respect to the forward end of the device. Asbefore, where the drive mechanism includes an elastic member coupled tothe body, the body of device may be sufficiently flexible (or can becomesufficiently flexible, e.g. by being immersed in water) such that thetension of the elastic member can cause the body to flex downward andexaggerate the tendency to dive.

In some embodiments where the propeller is slightly facing upward, theblades of the propeller may cause the device to yaw slightly to the leftas it is propelled forward. For example, the device may be configuredsuch that the counterclockwise rotation of the propeller (viewed fromthe aft end looking forward) causes the forward propulsion of thedevice. Accordingly, the upward swinging blade, disposed on the leftside of the device, has a greater angle of attack as it moves throughthe medium, and this causes the device to slightly yaw to the left. Ascan be appreciated from the above discussion, where the device isturning left, the effect of a wing that is disposed on the right sidemay be pronounced, since it will be traveling at a relatively fasterspeed.

Although certain aspects for controlling the trajectory have beendescribed, it should be clear that any of a variety of devices can beincorporated in accordance with embodiments of the invention. Forexample, in many embodiments, the device includes a vertical memberdisposed at the aft end of the body that can pivot left or right act andthereby act as a rudder to control the trajectory of the device. Forinstance, the vertical member may be pivoted left and thereby cause thedevice to turn left as it is propelled through a medium. In general, anyof a variety of structures can be incorporated to help further controlthe trajectory in accordance with embodiments of the invention.

In a number of embodiments, the device includes a biasing member thatbiases the positioning of the propeller; the extent of the bias can varyduring the propulsion of the device. For example, where the propeller isdriven by an elastic member that is elastic in torsion and that usesstored strain energy to drive the propeller, the biasing member may be afunction of the stored strain energy in the elastic member. Forinstance, where the elastic member is a rubber band, the propeller maybe wound to store strain energy in the rubber band—doing so increasesthe tension that the rubber band exerts on the propeller, which makes itless susceptible to the influence of the biasing member that acts toreposition the propeller. However, as the stored strain energy isreleased to actuate the propeller, the tension in the rubber band maydecrease and make the propeller more susceptible to the repositioningeffect of the biasing member. The repositioning of the propellerconsequently affects the trajectory of the device. For example, thebiasing member can operate such that whereas the initial trajectory ofthe propelled device may be downward, as the tension in the elasticmember that drives the propeller releases, the biasing member canreposition the propeller such that the trajectory of the device becomesupward. Of course, it should be understood that the biasing member canalter the trajectory in any number of ways in accordance withembodiments of the invention. For example, the trajectory can becontrolled such that the device initially bears right, and subsequentlyturns left. As can be appreciated, any number of biasing members can beincorporated in accordance with embodiments of the invention to controlthe trajectory of the device as it propels through a medium.

Similarly, in numerous embodiments, the device includes a biasing memberthat biases the positioning of structures configured to providecounter-rotational forces; similar to before, the extent of the bias canvary during the propulsion of the device. Accordingly, the direction ofpropulsion can vary over time. As can be appreciated, the operatingprinciples for these configurations are similar to those describedabove. For example, in many embodiments, a device includes wings and isdriven by an elastic member (e.g. a rubber band) in conjunction with apropeller. The wings include attachment points which accommodate theelastic member, such that when the elastic member is taut, the wingsadopt a first position, but when the elastic member is relieved ofstrain energy, the wings are repositioned, which consequently alters thepath of traversal. In many embodiments, a distinct biasing mechanism caninfluence the repositioning of the wings.

FIG. 6 depicts a device that is configured so that the positioning ofits wings can vary during its propulsion. In particular, theillustration depicts a device adapted to propel itself through a medium600 having a first wing 608 and a second wing (not shown). Incidentally,the device 600 emulates the shape of a submarine. Importantly, the firstwing 608 includes two attachment points 630, 632 that can accommodate anelastic member 604 that acts as the drive mechanism for the device 600,and the first wing 608 is rotatable such that pressure applied on thewing 608 at the either of the attachment points can impact the angle ofattack of the wing 608. The device 600 further includes a member that iselastic in torsion 640 that acts to bias the angle of attack of thefirst wing. The second wing (not shown) also includes a correspondingtorsionally elastic member. The wings also include stopping features 650that are designed to constrain the maximum and minimum angles of attack.In essence, when the elastic member 604 is wound to initiate theoperation of the device, the taut elastic member 604 applies pressure onthe respective wings to influence the angle of attack. However, duringoperation as the elastic member 604 relieves itself of stored strainenergy, the relative pressure of the torsionally elastic members(relative to the pressure applied by the drive mechanism elastic member)increases in magnitude and thereby acts to reposition the wings duringthe propulsion. Of course, it should be appreciated that any of avariety of mechanisms can be used to reposition either the structuresconfigured to provide a counter-rotational force or the propeller duringthe propulsion of the device in accordance with embodiments of theinvention; for example, it is not necessary that a torsionally elasticmember be used to bias the positioning of a wing—in general any of avariety of biasing members can be implemented.

Accordingly, it is seen that the above-discussed devices can allowgreater control over trajectory of the device as it propels through amedium. Notably, although the operation of the device has been discussedwith respect to water, it should be clear that the device can be adaptedto propel through any suitable medium. For example, in many embodiments,the device is adapted to propel through air. While the above discussionhas regarded the structure of devices that are adapted to advantageouslypropel through a medium, in many embodiments, methods for assemblingsuch devices are provided. These methods are now discussed in greaterdetail below.

Methods for Assembling Devices that are Adapted to Advantageously PropelThemselves through a Medium

While the above-described devices can be educational and entertaining,they may also be made to be assembled in a convenient fashion.Accordingly, in many embodiments, methods for conveniently assemblingdevices that are adapted to advantageously propel themselves through amedium are provided. In many embodiments, planar structures areassembled to construct devices that can advantageously propel themselvesthrough a medium. In numerous embodiments, the devices can be assembledwithout the use of adhesive substances; the assembly can thereby be madesafer for younger children. In some embodiments, a first body structureincludes a first slot that accommodates the insertion of a first wing,and a second body structure includes a second slot that accommodates theinsertion of a second wing. Each of the first body structure and secondbody structure includes an inner side and an opposing outer side—theouter side being the side from which the wing will protrude in the finalassembled configuration. In some embodiments, the first body structurebecomes the left side of the fully assembled device, whereas the secondbody structure becomes the right side of the fully assembled device. Thestructure of the respective wings can be such that their respectivewidest dimension is wider than the respective slots. Accordingly, whereeach wing is inserted into a respective slot from the inner side andthrough to the outer side, at least some nominal portion of it does notpass through and is retained on the inner side. Recall that the deviceis not necessarily symmetrical; thus, for example, each wing may beadapted to provide a different lift by having a different angle ofattack. For example, the first slot may be angled upwards such that itcauses the wing to have a positive angle of attack, while the secondslot may be angled downwards such that it causes the wing to have anegative angle of attack. In essence, the nominal portions of the wingdo not necessarily entirely coincide. Although, in many embodiments, atleast some portion of the slots overlap. Accordingly, at least one ofthe nominal portions includes an inset region; the inset region on thenominal portion of one wing can allow the wing to interface with thenominal portion of the other wing such that each nominal portion abutsthe opposing side. In other words, whereas the wide portions of thewings that do not pass through the slot would otherwise coincide andinterfere with each other, the inset region allows the wings toaccommodate one-another and abut the opposing body structure. Therespective bodies and the wings may be fastened in this configuration.

As can be appreciated, the above-described process can be implementedand modified in any of a variety of ways in accordance with embodimentsof the invention. For example, in many embodiments, a third bodystructure is used to provide structural rigidity. FIGS. 7A-7L depict theassembly of a device adapted to propel through a medium, where a thirdspacer body is used to provide structural rigidity to the device. Inparticular, FIG. 7A depicts a kit that includes the components that areassembled to form the device. Specifically, the illustrated kitincludes, a first body structure 702, a second body structure 704, athird body structure 706, a first wing 708, a second wing 710, a firstpanel for accessing the cavity portion 712, a second panel for accessingthe cavity portion 714, a horizontal stabilizer 716, an elastic member718, and a propeller 720. The kit further includes fastening membersthat can be used to adjoin the various components to form the device. Inparticular, ratcheting action rivets 722 can be used to permanentlyaffix a configuration, while screws 724 and nuts 726 can be used toremovably attach components. Of course, it should be clear that anysuitable fastening members may be used in accordance with embodiments ofthe invention.

FIG. 7B depicts a magnified view of the first body structure 702 in thekit. Note that the first body structure 702 is intended to define theleft side of the device, is in the shape of a fish, and is patternedwith a fish design. Of course, as referenced to above, the device canadopt any suitable shape in accordance with embodiments of theinvention, and is not limited to emulating the shape of a fish. Thefirst body structure 702 includes a slot 751 that accommodates theinsertion of the first wing 708. In the illustrated embodiment, the slot751 is angled upwards so as to cause the first wing 708, when inserted,to adopt a positive angle of attack. Conversely, the second bodystructure 704, depicted in FIG. 7C, includes a slot 753 that is angleddownward such that when the second wing 710 is inserted, it adopts anegative angle of attack. In this way, each of the two wings can providea different lift. Of course, as discussed previously, the wings can beconfigured to provide a different lift in any suitable way in accordancewith embodiments of the invention. The first body portion 702 and secondbody portion 704 each include holes 755 that define cavity portions thatcan accommodate weights which can be used to alter the performancecharacteristics of the device as discussed previously. Additionally, thefirst body structure 702 and second body structure 704 additionallyinclude holes 757 that allow the first panel 712 and second panel 714 tobe removably attached. For example, a system of screws 724 and nuts 726can be used to removably attach the panels 712, 714. The first bodystructure 702 and second body structure 704 additionally include holesthat can allow the first body structure 702, the second body structure,and the third body structure 706 to be permanently attached. For examplea system of ratcheting action rivets 722 can be used to permanentlyattach the body structures 702, 704, 706. Using screws 724, nuts 726,and ratcheting action rivets 722 to adjoin the structures isadvantageous insofar as they can allow the structures to be coupledwithout the use of potentially toxic adhesives. Of course, it should beclear that any fastening mechanisms can be used to adjoin members inaccordance with embodiments of the invention.

FIGS. 7D-7E depict magnified views of the first wing 708 and the secondwing 710 respectively. Notably, the first wing 708 includes a wideportion 761 that includes an inset portion 763. The wide portion 761 iswider than the opening of the slot 751 on the first body structure 702.Similarly, the second wing 710 also includes a wide portion 765 that iswider than the opening of the slot 753 on the second body structure 704.The second wing also includes an inset portion 767. Although in theillustrated embodiment, each wing 708, 710 includes an inset portion, inmany embodiments, only one of the first wing and second wing includes aninset portion.

FIG. 7F depicts the insertion of the wings 708, 710 in the respectivebody structures 702, 704. Importantly, note that the wide portions 761,765 prevent the respective wings 708, 710 from passing entirely throughthe respective body structures 702, 704. Additionally, note that whenthe device is arranged, the middle portion of the slots 751, 753 overlapand thereby define an X-pattern.

FIG. 7G depicts a magnified view of the third body structure 706. In theillustrated embodiment, the third body structure is intended to bedisposed in between the first body structure 702 and the second bodystructure 704. However, in many embodiments, the third body structure isnot so disposed. Indeed, in some embodiments, there is no third bodystructure. Instead, the device is assembled with first and second bodystructures. Notably, the third body structure 706 includes an X-shapedslot 771. The X-shaped slot 771 is intended to house each of the twonominal wing portions 761, 765 that are too wide to pass through therespective body structures 702, 704. In particular, the X-shaped slot771 includes a region 773 that houses the wide portion of the first wing761 having a positive angle of attack, and further includes a region 775that houses the wide portion of the second wing 765. The third bodystructure 706 also includes a vertical stabilizer portion 777, and aslot that accommodates the insertion of a horizontal stabilizer 716. Thethird body structure 706 also includes attachment points 781, 783 thatcan allow the elastic member 720 to couple to the body. Additionally,the third body structure also includes holes that define cavity portions755, holes that allow panels 712, 714 to be removably attached to thedevice, and holes that allow the first body structure 702, the secondbody structure 704, and the third body structure 706 to be permanentlyaffixed.

FIG. 7H depicts that the slot 771 in the third body structure 706 hasaccommodated the wide portion of the second wing 710. Notably, the insetportion 767 is recessed and would not interfere with the subsequentaccommodation of the wide portion of the first wing 761. By contrast, ifneither the first wing 708 or the second wing 710 included insetportions 763, 767, then their respective wide portions 761, 765 mayinterfere and inhibit the assembly.

FIG. 7I depicts an isometric view of the partially assembled deviceincluding body structures 702, 704, 706, and the wings 708, 710.

FIG. 7J depicts a view of the partially assembled device including theremovably attached panels 712 (the second panel 714 being out of view),and the attached horizontal stabilizer 716. In the illustratedembodiment, the panels have been attached using a system of screws 724and nuts 726. The horizontal stabilizer 716 has been inserted into theslot in the third body structure 706.

FIG. 7K depicts a magnified view of the horizontal stabilizer 716. Thehorizontal stabilizer 716 includes attachment points 785, 787 that canallow the drive mechanism to steer the device either left or right,respectively, in the manner described above.

FIG. 7L depicts the assembled device including the elastic member 718that acts as the drive mechanism, and the propeller 720. Ratchetingaction rivets 722 have been used to affix the configuration. In theillustrated embodiment, the elastic member 718 is shown coupled to thebody at attachment points 781 and 783, although it could have beenattached at attachment points 785 and 787 if desired.

While the assembly of a particular device in accordance with embodimentsof the invention has been illustrated and discussed, it should be clearthat the assembly techniques described herein can be implemented in anyof a variety of ways in accordance with embodiments of the invention.For example, in many embodiments, a third body structure providingstructural support is not incorporated. In a number of embodiments,fastening components other than ratcheting action rivets are used toadjoin the members. Additionally, it should be clear that the describedtechniques are applicable to wings that overlap in any of a variety ofways—it is not necessary that the wings be configured to overlap todefine an X-shaped pattern. For example, in many embodiments, the tipportions of the wings overlap (e.g., as opposed to the middle portionsof the wing overlapping, which would result in an X-shaped pattern). Ingeneral, the description with respect to FIGS. 7A-7L is meant to beillustrative and not exhaustive.

The devices described herein can be enjoyed in any of a variety of waysin accordance with embodiments of the invention. One such example is nowdiscussed below.

‘Fishing’ of Devices Adapted to Controllably Propel Themselves

As can be appreciated, the above described devices can be enjoyed in anyof a variety of ways in accordance with embodiments of the invention.For instance, in many embodiments, the device is operated in water, andusers can ‘fish’ for the device. Any sort of fishing apparatus can beused. In many embodiments, an elastic loop (e.g. a rubber band) is usedto capture the propelled device. As can be appreciated, the diameter ofthe loop can be sized appropriately so that it can encompass at leastsome portion of the device. A weight can be coupled to the elastic loopto cause it to sink into the water; in many embodiments a key ring iscoupled to the elastic loop and serves as the weight that causes theelastic loop to sink into the water. A fishing rod and reel (orequivalent, e.g. a toy fishing rod/reel) can further be used to controlthe loop, and position it at the desired depth (e.g. the depth at whichthe device is travelling). The loop can be lowered in to the water so asto intercept the propelled device; where the device has travelled intothe loop, the loop can be raised (e.g. via the fishing rod/reel), andthe device can thereby be ‘caught.’ In many embodiments, the loop issufficiently pliable such that when it is raised (e.g. via a fishingrod/reel), the applied tension causes the loop to enclose. Thus forexample, where the device has travelled within the loop and the loop israised, the applied tension can cause the loop to enclose and therebyfurther secure the device as it is being ‘caught.’ In this way, afishing game can be implemented with the above-described devices. Ofcourse, it should be clear that the above-described devices can beimplemented in any of a variety of ways in accordance with embodimentsof the invention.

More generally, as can be inferred from the above discussion, theabove-mentioned concepts can be implemented in a variety of arrangementsin accordance with embodiments of the invention. Accordingly, althoughthe present invention has been described in certain specific aspects,many additional modifications and variations would be apparent to thoseskilled in the art. It is therefore to be understood that the presentinvention may be practiced otherwise than specifically described. Thus,embodiments of the present invention should be considered in allrespects as illustrative and not restrictive.

What is claimed is:
 1. A device adapted to propel itself through amedium comprising: a body; a drive mechanism coupled to the body; apropeller rotatably coupled to the drive mechanism; a first wing coupledto the body, the first wing being configured to generate a first lift;and a second wing coupled to the body, the second wing being configuredto generate a second lift that is different than the first lift.
 2. Thedevice adapted to propel itself through a medium of claim 1, furthercomprising a vertical member coupled to the body.
 3. The device adaptedto propel itself through a medium of claim 2, wherein: the body is anelongated body having a forward end, an aft end, and a characteristicwidth; and the diameter of the propeller is larger than thecharacteristic width of the elongated body.
 4. The device adapted topropel itself through a medium of claim 3, wherein: the propeller isdisposed proximate the aft end of the elongated body; and the verticalmember is disposed proximate the aft end of the elongated body.
 5. Thedevice adapted to propel itself through a medium of claim 4, wherein:the elongated body defines a first side, and a second, opposing, side;and the first wing is coupled to the first side of the elongated body,and the second wing is coupled to the second side of the elongated body.6. The device adapted to propel itself through a medium of claim 5,wherein: the first wing defines a positive angle of attack with respectto the forward end of the elongated body; and the second wing does notdefine a positive angle of attack with respect to the forward end of theelongated body.
 7. The device adapted to propel itself through a mediumof claim 6, wherein the second wing defines a negative angle of attackwith respect to the forward end of the elongated body.
 8. The deviceadapted to propel itself through a medium of claim 5, wherein theelongated body comprises a cavity portion.
 9. The device adapted topropel itself through a medium of claim 8, wherein the cavity portion iscylindrical and has a diameter sized to accommodate a coin.
 10. Thedevice adapted to propel itself through a medium of claim 9, wherein thecavity has a diameter sized to accommodate a United States penny. 11.The device adapted to propel itself through a medium of claim 10,wherein the drive mechanism comprises an elastic member.
 12. The deviceadapted to propel itself through a medium of claim 11, wherein theelastic member is elastic in torsion.
 13. The device adapted to propelitself through a medium of claim 12, wherein the drive mechanism isremovably coupled to the elongated body.
 14. The device adapted topropel itself through a medium of claim 13, wherein the elongated bodycomprises a plurality of coupling mechanisms, each of which allows thedrive mechanism to removably couple with the elongated body.
 15. Amethod of assembling a device adapted to propel itself through a mediumcomprising: inserting a first wing into a slot defined by a first bodystructure; inserting a second wing into a slot defined by a second bodystructure; wherein each of the first wing and second wing comprises awide portion; wherein the wide portion of the first wing is wider thanthe slot defined by the first body structure; wherein the wide portionof the second wing is wider than the slot defined by the second bodystructure; wherein at least one of the first wing and second wingcomprises an inset portion; arranging the first body structure and thesecond body structure such that at least some portion of the slotsoverlap and such that the wide portion of the first wing abuts thesecond body structure and the wide portion of the second wing abuts thefirst body structure; and affixing the arrangement whereby at least someportion of the slots overlap and the wide portion of the first wingabuts the second body structure and the wide portion of the second wingabuts the first body structure.
 16. The method of claim 15, whereinarranging the first body structure and the second body structure furthercomprises arranging a third body structure between the first bodystructure and the second body structure, the third body structuredefining a slot configured to house the wide portion of the first wingand the wide portion of the second wing.
 17. The method of claim 16,wherein affixing the arrangement comprises using at least one ratchetingaction rivet to affix the arrangement.
 18. The method of claim 16,wherein each of the first body structure, the second body structure, thethird body structure, the first wing, and the second wing is planar. 19.The method of claim 18, wherein the slot defined by the first bodystructure defines a positive angle of attack in the assembled device,and wherein the slot defined by the second body structure defines anegative angle of attack in the assembled device.
 20. The method ofclaim 19, wherein each of the first body structure, the second bodystructure, and the third body structure defines at least one cavityportion.
 21. A kit for a device adapted to propel itself through amedium comprising: a first body structure, defining at least one cavityportion and at least one slot; a second body structure, defining atleast one cavity portion and at least one slot; a third body structuredefining at least one cavity portion and at least one slot; a first wingdefining a wide portion and an inset portion; a second wing defining awide portion; a first panel for accessing the cavity portion; a secondpanel for accessing the cavity portion; a horizontal stabilizer; anelastic member; and a propeller.